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<div class="title">ndQuaternion.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* Copyright (c) &lt;2003-2022&gt; &lt;Julio Jerez, Newton Game Dynamics&gt;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">* This software is provided &#39;as-is&#39;, without any express or implied</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">* arising from the use of this software.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">* including commercial applications, and to alter it and redistribute it</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">* freely, subject to the following restrictions:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">* claim that you wrote the original software. If you use this software</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">* appreciated but is not required.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">* misrepresented as being the original software.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef __ND_QUATERNION_H__</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define __ND_QUATERNION_H__</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;ndCoreStdafx.h&quot;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;ndTypes.h&quot;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;ndVector.h&quot;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">class </span><a class="code" href="classnd_matrix.html">ndMatrix</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classnd_quaternion.html">   31</a></span>&#160;<span class="keyword">class </span><a class="code" href="classnd_quaternion.html">ndQuaternion</a>: <span class="keyword">public</span> <a class="code" href="classnd_vector.html">ndVector</a></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a>(); </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a>(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; quat);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a>(<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a>&amp; quat);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    D_CORE_API <a class="code" href="classnd_quaternion.html">ndQuaternion</a> (<span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; matrix);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> (ndFloat32 q0, ndFloat32 q1, ndFloat32 q2, ndFloat32 q3);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    D_CORE_API <a class="code" href="classnd_quaternion.html">ndQuaternion</a> (<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a> &amp;unit_Axis, ndFloat32 angle);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> Normalize() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> Scale(ndFloat32 scale) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> Inverse () <span class="keyword">const</span>; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> operator+ (<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;B) <span class="keyword">const</span>; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="classnd_quaternion.html">ndQuaternion</a> operator- (<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;B) <span class="keyword">const</span>; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    D_CORE_API <a class="code" href="classnd_quaternion.html">ndQuaternion</a> operator* (<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;B) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    D_CORE_API <a class="code" href="classnd_quaternion.html">ndQuaternion</a> Slerp(<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;q1, ndFloat32 t) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    D_CORE_API <a class="code" href="classnd_vector.html">ndVector</a> CalcAverageOmega(<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;q1, ndFloat32 invdt) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;};</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">inline</span> ndQuaternion::ndQuaternion()</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    :<a class="code" href="classnd_vector.html">ndVector</a>(<a class="code" href="classnd_vector.html">ndVector</a>::m_wOne)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">inline</span> ndQuaternion::ndQuaternion(<span class="keyword">const</span> <a class="code" href="classnd_vector.html">ndVector</a>&amp; quat)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    :<a class="code" href="classnd_vector.html">ndVector</a>(quat)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">inline</span> ndQuaternion::ndQuaternion(<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a>&amp; quat)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    :<a class="code" href="classnd_vector.html">ndVector</a>(quat)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">inline</span> ndQuaternion::ndQuaternion(ndFloat32 q0, ndFloat32 q1, ndFloat32 q2, ndFloat32 q3)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    :<a class="code" href="classnd_vector.html">ndVector</a>(q0, q1, q2, q3)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    *<span class="keyword">this</span> = Normalize();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> ndQuaternion::Inverse ()<span class="keyword"> const </span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> (-m_x, -m_y, -m_z, m_w);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> ndQuaternion::operator+ (<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">//return ndQuaternion (m_x + q.m_x, m_y + q.m_y, m_z + q.m_z, m_w + q.m_w);</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">return</span> ndVector::operator+(q);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> ndQuaternion::operator- (<span class="keyword">const</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> &amp;q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">//return ndQuaternion (m_x - q.m_x, m_y - q.m_y, m_z - q.m_z, m_w - q.m_w);</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">return</span> ndVector::operator-(q);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> ndQuaternion::Normalize()<span class="keyword"> const</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> ndVector::Normalize();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">inline</span> <a class="code" href="classnd_quaternion.html">ndQuaternion</a> ndQuaternion::Scale(ndFloat32 scale)<span class="keyword"> const</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> ndVector::Scale(scale);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
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<div class="ttc" id="aclassnd_matrix_html"><div class="ttname"><a href="classnd_matrix.html">ndMatrix</a></div><div class="ttdef"><b>Definition:</b> ndMatrix.h:42</div></div>
<div class="ttc" id="aclassnd_quaternion_html"><div class="ttname"><a href="classnd_quaternion.html">ndQuaternion</a></div><div class="ttdef"><b>Definition:</b> ndQuaternion.h:32</div></div>
<div class="ttc" id="aclassnd_vector_html"><div class="ttname"><a href="classnd_vector.html">ndVector</a></div><div class="ttdef"><b>Definition:</b> ndVectorArmNeon.h:41</div></div>
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